Abstract
This paper presents an adaptive extension of the external linearization feedback control applied to manipulators. The design of the adaptation law is based on a Lyapunov stability analysis. This algorithm ensures stability of the error model, even in case of poor knowledge of the model parameters, as well as good robustness properties in presence of unmodelled bounded disturbances.
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© 1986 Springer Science+Business Media Dordrecht
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Campion, G., Bastin, G. (1986). Lyapunov Design of an Adaptive External Linearization Feedback Control for Manipulators. In: Bensoussan, A., Lions, J.L. (eds) Analysis and Optimization of Systems. Lecture Notes in Control and Information Sciences, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0007556
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DOI: https://doi.org/10.1007/BFb0007556
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-16729-7
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